Method for processing images of interventional radiology

ABSTRACT

An image processing method for interventional imaging in which a region of interest of a patient is viewed. The method comprises acquiring a succession of images of a region of interest of the patient. The method also comprises detecting and tracking, on the successive images, at least one surgical instrument introduced inside the region of interest of the patient, in order to isolate said instrument therein; and comparing two successive images on which the surgical instrument has been isolated in order to identify at least one common shape therein. The method further comprises estimating the displacement of said common shape between both of these successive images; and re-alignment processing of the different successive images depending on the thereby determined estimations of displacements, these displacement estimations being considered as corresponding to the displacement caused by the physiological movement of the patient with the exception of any other movement.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.12/350,585, filed on Jan. 8, 2009, which claims foreign prioritybenefits to French Application No. 0850133, filed on Jan. 10, 2008, allof which are incorporated by reference herein in their entireties.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

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NAMES OF PARTIES TO A JOINT RESEARCH AGREEMENT

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REFERENCE TO A SEQUENCE LISTING, A TABLE, OR COMPUTER PROGRAM LISTINGAPPENDIX SUBMITTED ON COMPACT DISC

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BACKGROUND OF THE INVENTION

1. Field of the invention

The field of the invention relates to medical imaging; and moreparticularly relates to processing images in interventional radiology(fluoroscopic images).

Additionally the field of the invention relates to a method and a systemwith which the position of a surgical instrument may be displayed inreal time in a region of interest of a patient.

2. Description of Related Art

The principle of interventional radiology for a practitioner consists ofguiding and deploying a surgical instrument inside the vascular systemof a patient while being assisted by a medical imaging system.

Such a medical imaging system allows the acquisition, processing andreal time display of two-dimensional (2D) images representing thevascular system of the patient and the surgical instrument. With theseimages, the practitioner may guide the instrument in the vascularsystem.

Acquisition of these images requires the emission of a small dose ofX-rays to the patient, images on which the vessels are visible by meansof a contrast product injected beforehand into the vascular system ofthe patient

In order to view the surgical instrument inside the vessels of thepatient, a 2D or 3D image of the vascular system of the patient (i.e. a2D or 3D mask of the mapping of the vascular system of the patient) isacquired (by emitting a small dose of X-rays towards the patient, imageon which the vessels are made visible by injection of a contrastproduct) and is superposed to a 2D image acquired in real time. In thisrespect, reference may be made to the following scientific Publication.

S. Gorges et al.—3D Augmented Fluoroscopy in InterventionalNeuroradiology: Precision Assessment and First Evaluation on ClinicalCases—In Workshop AMI-ARCS 2006 held in conjunction with MICCAI'06,October 2006, Copenhagen, Denmark.

A problem is that considering the fact that two images are superposed,any alignment defect is prejudicial as to the visible result: thepractitioner may see the instrument outside the vascular system which isdetrimental to the precision required for the procedure of thepractitioner.

Such an alignment defect is caused by physiological movement(s) of thepatient (breathing for example). These movements complexify the guidingof the instrument since the practitioner has only access to real-timeimages on which the instrument may appear outside the 2D or 3D mask.

Consequently, a need for taking into account physiological movements ofthe patient is required in order to improve the duration on the one handand the quality of the operation on the other hand.

Techniques are known with which physiological movements of a patient maybe compensated.

One technique is to use internal or external sensors (see JochenKrucker, Sheng Xu, Neil Glossop, Anand Viswanathan, Jam Borgert andBradford J. Wood, Heinrich Schulz—Electromagnetic Tracking for ThermalAblation and Biopsy Guidance: Clinical Evaluation of Spatial AccuracyJournal of Vascular and Interventional Radiology Volume 18, Issue 9,September 2007, pages 1141-1150).

This technique requires the application of an electromagnetic or opticalnavigation device which is a clinical limitation.

Another technique is to refer to an internal element of the body of thepatient having strong contrast, for example the diaphragm (AlexandreCondurachea, Til Aacha Kai Eckb, Jorg Brednob and Thomas Stehieb—Fastand robust diaphragm detection and tracking in cardiac X-ray projectionimages—In Proceedings of the SPIE, Volume 5747, pages 17654775, 2005).

Finally, this last technique is not compatible with the dimensions ofthe X-ray emission field for acquiring fluoroscopic images.

BRIEF SUMMARY OF THE INVENTION

With embodiments of the invention, it is possible to characterize and tocompensate in real time the physiological movement of a patient duringan operation by detecting the surgical instrument in the acquired image.

Thus, according to a first aspect, an embodiment of the inventionrelates to an image processing method for interventional imaging inwhich a region of interest of a patient is viewed, comprising anacquisition of a succession of images of a region of interest of thepatient.

The method further comprises: detecting and tracking, on successiveimages, at least one surgical instrument introduced inside the region ofinterest of the patient, in order to isolate said instrument therein;comparing two successive images on which the surgical instrument hasbeen isolated in order to identify at least a common shape therein;estimating the displacement of said common shape between both of thesesuccessive images; processing for re-aligning different successiveimages depending on the thereby determined estimations of displacements,these displacement estimations being considered as corresponding to thedisplacement caused by the physiological movement of the patient withthe exception of any other movement.

In order to detect and track the surgical instrument, operations areapplied consisting of applying a mathematical morphological operation onthe acquired images; filtering the images on which the mathematicalmorphological operation has been applied so that each pixel of theimages is associated with a certain probability; processing the obtainedprobabilities in order to make a mapping intended to cause a set ofpixels to stand out, representing the instrument.

The estimation processing determines a deformation induced by themovement of the instrument with the exception of any other movement.

Moreover, within the scope of the re-alignment processing, the estimateddeformation is applied on a three-dimensional mask of the region ofinterest of the patient in order to obtain a three-dimensional image onwhich the physiological movement of the patient is compensated; or onthe whole of an image.

Consequently, by means of the re-alignment which only considers thephysiological movement, the image delivered to the practitioner is freeof alignment defects; the instrument is always inside the mask of thevascular system of the patient.

Further, with an embodiment of the invention, the surgical instrumentdisplaced by the practitioner, set into a relationship with a 2D or 3Dmask representing the anatomy of the patient, may be tracked in realtime. The operation is improved: it is faster and more efficient.

According to a second aspect, an embodiment of the invention relates toa medical imaging system comprising: means for obtaining an image of aregion of interest of a patient; means for acquiring two successiveimages of the region of interest of the patient.

The system comprises processing means capable of: detecting and trackingon successive images at least one surgical instrument introduced insidethe region of interest of the patient, in order to isolate saidinstrument therein; comparing two successive images on which thesurgical instrument has been isolated in order to identify at least onecommon shape therein; estimating the displacement of said common shapebetween both of these successive images; processing the realignment ofthe different successive images depending on the thereby determinedestimations of displacements, these displacement estimations beingconsidered as corresponding to the displacement caused by thephysiological movement of the patient with the exception of any othermovement.

And finally according to a third aspect, an embodiment of the inventionrelates to a computer program.

The computer program comprises machine instructions for applying amethod according to the first aspect of the invention,

BRIEF DESCRIPTION OF THE DRAWINGS

Other characteristics and advantages of embodiments of the inventionwill further become apparent from the description which follows, whichis purely illustrative and non-limiting and should be read withreference to the appended drawings wherein:

FIG. 1 schematically illustrates a medical imaging system;

FIG. 2 illustrates an image processing method in interventional imagingaccording to the invention;

FIGS. 3 a, 3 b and 3 c respectively illustrate a vessel of the patient;the vessel comprising an instrument inside it at instant t; the vesselcomprising the instrument at instant t+1; and

FIGS. 4 a, 4 b, 4 c and 4 d illustrate results obtained by means of themethod according to the invention.

DETAILED DESCRIPTION OF THE INVENTION Medical Imaging System

During an interventional radiology operation, a practitioner brings asurgical instrument towards an area to be treated inside the body of thepatient by passing through the vascular system of the patient.

The surgical instrument may be a catheter, a guide wire or any otherinstrument known to one skilled in the art.

In order to facilitate the displacement of the instrument—as alreadymentioned—with the medical imaging system the instrument inside thevascular system of the patient may be displayed.

In FIG. 1, the medical imaging system 1 is schematically illustrated,with which a 2D image of an object 2 may be acquired and the acquired 2Dimage may be processed in order to display the 3D output image forassisting the practitioner with progression of the instrument.

The medical imaging system 1 comprises an image acquisition system 3, animage processing system 5 and a display system 4.

With the acquisition system 3, a 2D image representing the surgicalinstrument and the vascular system of the patient in two dimensions maybe acquired.

The processing system 5 is a computer for example. The processing system5 is coupled with memory means 6 which may be integrated or separatefrom the processing system 5. These memory means 6 notably providestorage for the 3D model of the vascular system of the patient. Thesemeans may be formed by a hard disk, a diskette, a CDROM.

The image acquisition system 3 is an X-ray acquisition system forexample, the latter comprising any known means allowing emission of Xrays onto the object 2 and acquisition of resulting images.

General description of the image processing, method

In the following, we consider that the surgical instrument is acatheter.

FIG. 2 schematically illustrates the steps of the image processingmethod provided by an embodiment of the invention. It is considered thatthe region of interest (the vascular system) of the patient is viewed bymeans of the medical imaging system.

The method for processing images is based on the following principle.

Step S0: In order to initialize the method, one places oneself atinstant t₀ for which no alignment defect is observed in a fluoroscopic3D image (acquired and reconstructed by means known to one skilled inthe art). This initialization may be carried out manually by thepractitioner or digitally by means of a computer for example.

Step S1: Two successive images I_(t), I_(t+1) of a region of interest ofthe patient are acquired by emitting X-rays on this region by means ofthe acquisition system 3.

Step S2: During this step, the surgical instrument (catheter,microcatheter, guide wire) IS detected and tracked in the acquiredfluoroscopic images I_(t), I_(t+1).

Step S3: The position of the instrument detected in the image taken atinstant t (current instant) is compared (S30) with the position of theinstrument detected in the image taken at the preceding instant, instantt-1, in order to estimate a common shape between both images and thusthe 2D physiological displacement (S31).

FIGS. 3 a, 3 b and 3 c illustrate what is meant by common shape.

In FIG. 3 a, a vessel 30 of the vascular system G illustrated, in whicha catheter 30 is introduced (FIGS. 3 b and 3 c).

FIGS. 3 b and 3 c correspond to two successive images of the vesselcomprising the catheter 31 in two different positions.

The common form 32 which one seeks to estimate between the twosuccessive images is the shape formed by the pair vessel/catheter. Inother words, the common portion of the instrument is not sought but itis actually its common shape which is sought.

In FIG. 3 c it is seen that the instrument has been subject to a changein length but there is actually a common shape 32 between both images.

It should be noted that the way of estimating the 2D displacement fromthe displacement of the object depends on the clinical application andon the type of instrument.

From the estimated displacement, the deformation M is determined (S32)between both images.

Step S4: The displacement having been estimated, the inferreddeformation M is applied:

either to the complete fluoroscopic image by applying the function M tothe image; or

to the 3D (or 2D) mask of the vascular system of the patient by applyingthe function M to the mask 3D.

As this will have been understood, the method is based on the estimationof the 2D physiological movement by using two images acquired at twosuccessive instants t and t+1.

Detailed description of the steps of the image processing method

The following steps were performed for each of the two images I_(t) andI_(t) ₊₁ acquired successively.

Step S2: This step aims at detecting and tracking the movement of thetool in the vascular system of the patient

During a step S20, by a mathematical morphological operation on theacquired images I_(t) and I_(t+1), all the elements of the image otherthan the instrument are eliminated, for example the elements having athickness larger than the diameter of a guide wire, in the case when theinstrument is a guide wire. A description of the mathematicalmorphological operations will be found in Jean Serra—Image Analysis andMathematical Morphology (Vol. 1), Academic Press—London, 1982.

During a step S21, filtering is performed on the thereby obtained image(for example, a filter a so-called “Turning Oriented Filter”, see forexample, R. Kutka and S. Stier—Extraction of Line Properties Based onDirection Fields, Transactions on Medical Imaging—Volume 15, p 51-58,February 1996.

Such a filter allows each pixel of the image to be associated with acertain probability of belonging to linear segments having a certainorientation.

And during S22, by a mapping applied to the obtained probabilities, aset of pixels representing the instrument is obtained.

Step S3: The pixels belonging to the instrument detected in each imageI_(t) and I_(t+1) are applied here to these same images by using an ICP(Iterative Closest Point) algorithm which is a re-alignment process(S32). A general description of the ICP algorithm may be found inIterative Point Matching for Registration of Free-Form Curves andSurfaces (1992) (Zhengyou Zhang).

This algorithm iteratively seeks the deformation M (i.e. thetransformation) by minimizing a criterion C between two set of pointsF={(x_(i),y_(i))} and V={(w_(j),z_(j))}. The criteria to be minimizedallows the following expression

C(M) =Σ_(iεI)ρ(||M(x _(i,k) , y _(i,k))−(w _(i,k) z _(i,k))||),

wherein ρ is an estimator of M (see P. J. Huber, “Robust Statistics”,Wiley, New York, 1981) corresponding to the bi-weight function ofTuckey. This function minimizes the influence of interferences.

The algorithm for tracking the tool inside the vascular system of thepatient may be summarized in the following way.

The steps below are iterated over the whole duration of the operation.

WHILE (t)

IF t=0 THEN

-   -   Let F_(t) be the set of detected pixels in the region of        interest of image T₀    -   Let V_(t) be the set of detected pixels in the region of        interest of image I₁

ELSE

Let V_(t) be he set of detected pixels in the region of interest ofimage I_(t)

END IF

EXECUTE the ICP algorithm in order to estimate the deformation M_(t)which allows passing from F_(t) to V_(t)

F_(t+1)=these are the common points of V_(t) selected by the ICPalgorithm plus the neighbouring points selecting by the FOT filter.

END WHILE

By means of the estimator of the deformation M, the region of interestmay contain detected objects such as agraffes for example, which followa movement different to that of the instrument. These objects areconsidered as interfering objects and will not be taken into account inthe estimation of the movement.

By means of the ICP algorithm, a change in the length of the guideinduced by the practitioner (when the latter notably progresses into thevascular system of the patient) will also not be taken into account inthe estimation of the movement.

Indeed, only the common shapes between the images I_(t) and I_(t+1) aretaken into account because the sudden changes in length and in shape(initiated by the practitioner) are not taken into account by thebi-weight function of Tuckey.

It should be noted that application of the ICP algorithm may be carriedout on a region of interest in order to improve the speed of theprocessing method.

Step S4: Once the deformation M is estimated, it is applied onto thefluoroscopic image or onto the 2D or 3D mapping of the vascular systemof the patient. This latter possibility allows the mask to be displaced,with the breathing movement of the patient visible on the images.

Examples of Results Obtained with the Method Described Above

The method described above was applied to four sequences of fluoroscopicimages (noted as A, B, C and D). These sequences were acquired on anInnova4100 C-arm—GE Healthcare system.

The images have dimensions of 1000×1000 and the size of the pixels is0.2 mm. The length of each sequence is comprised between 150 and 200images. Each sequence corresponds to a fluoroscopic acquisition on apatient an which a tumour embolization operation is performed.

In these images, only the instrument is visible.

In sequence A, the agraffes are visible: in this example, the patienthas been subject to a surgical operation prior to the embolizationoperation.

Finally, sequences A, B, C and D comprise 3, 1, 6 et 2 breathing cycles,respectively. It is noted that the breathing movement may causedisplacement of the instrument as far as 25 mm.

In order to evaluate the accuracy of the re-alignment ICP algorithm, theresidual error on the cost function was analyzed. For this purpose, animage recording transformation is applied onto the points of theinstrument which have been identified manually at the beginning of thesequence after the filtering operation S11.

Let n be an image and let F_(n+1) be a set of points of the instrument.For each image acquired at instant t, the distance of each point ofcoordinates (x,y)∈F_(t+1) from the setV_(n . . . t)=M_(n . . . t)(F_(n+1)) is determined, whereM_(n . . . t)is the transformation which carries out the mapping of thepoints of the set V_(t) of the pixels detected in the region of interestof the image I_(t) from image n to image t.

This distance corresponds to d=min_((w,z)∈)V_(n . . . t) ||(w−x)²+(z−y))² ||and represents the distance between the instrument in the image tand the instrument in the image n after compensation of thephysiological movement.

The results are illustrated in FIGS. 4 a, 4 b, 4 c and 4 d.

FIG. 4 a illustrates the average error of the image recordingtransformation. It is seen that this error is less than 3 mm for all thesequences and over the whole of their length.

FIGS. 4 b and 4 c illustrate the percentage of points of the instrumenthaving a tracking error less 3 mm and 6 mm, respectively,

For sequences A and B, the tracking of the installment is accurate: morethan 75% of the points have a tracking error less than 3 mm (see FIG. 4c). Moreover, it is seen that for sequence D, the percentage of thepoints having an error less than 3 mm, changes to 60% around the imageof sequence number 50.

Such a phenomenon is explained here by the fact that the movement of thepractitioner is not compensated.

FIG. 4 d illustrates such a phenomenon. The left figures are thecompensated images and the right figures are the non-compensated imagesfor the images numbered 10 and 60. It is observed that as the movementof the patient has been compensated, the instrument is however deformedin the vessels. Indeed, the method does not compensate this movement butthis however has the effect of increasing the error of the imagerecording transformation.

With such a processing method, it is possible to significantly reducethe error due to physiological movements and in particular that inducedby the breathing of the patient.

This written description uses examples to disclose the invention,including the best mode, and also to enable any person skilled in theart to make and use the invention. The patentable scope of the inventionis defined by the claims, and may include other examples that occur tothose skilled in the art. Such other examples are intended to be withinthe scope of the claims if they have structural elements that do notdiffer from the literal language of the claims, or if they includeequivalent structural elements with insubstantial differences from theliteral languages of the claims.

Although specific features of the invention are shown in some drawingsand not in others, this is for convenience only as each feature may becombined with any or all of the other features in accordance with theinvention. The words “including”, “comprising”, “having”, and “with” asused herein are to be interpreted broadly and comprehensively and arenot limited to any physical interconnection. Moreover, any embodimentsdisclosed in the subject application are not to be taken as the onlypossible embodiments. Other embodiments will occur to those skilled inthe art and are within the scope of the following claims.

What is claimed is:
 1. A method for processing images for interventionalimaging in which a region of interest of a patient is viewed, the methodcomprising: acquiring a succession of images of a region of interest ofthe patient; detecting and tracking on successive images, at least onesurgical instrument introduced inside the region of interest of thepatient, in order to isolate said instrument therein; comparing twosuccessive images on which the surgical instrument has been isolated inorder to identify at least one common shape therein; estimating thedisplacement of said common shape between both of these successiveimages; and re-alignment processing of the different successive imagesdepending on the thereby determined estimations of displacements, thesedisplacement estimations being considered as corresponding to thedisplacement caused by the physiological movement of the patient withthe exception of any other movement.
 2. The method of claim 1, whereinthe step of detecting and tracking the surgical instrument, furthercomprises: applying a mathematical morphological operation on theacquired images; filtering the images onto which the mathematicalmorphological operation has been applied so that each pixel of theimages is associated with a certain probability; and processing theobtained probabilities in order to produce a mapping intended to cause aset of pixels representing the instrument to stand out
 3. The method ofclaim 1, wherein the estimation process determines a deformation inducedby the movement of the instrument with the exception of any othermovement.
 4. The method of claim 3, wherein within the scope of there-alignment process, the estimated deformation is applied on athree-dimensional mask of the region of interest of the patient so as toobtain a three-dimensional image on which the physiological movement ofthe patient is compensated.
 5. The method of claim 3, wherein within thescope of the re-alignment process, the estimated deformation is appliedto the whole of an image.
 6. A medical imaging system, comprising: animaging device configured to obtain an image of a region of interest ofa patient; an image acquisition device configured to acquire at leasttwo successive images of the region of interest of the patient; and aprocessor configured to: detect and track, on successive images, atleast one surgical instrument introduced inside the region of interestof the patient, in order to isolate said instrument therein; compare twosuccessive images on which the surgical instrument has been isolated foridentifying at least one common shape therein; estimate the displacementof said common shape between both of these successive images; andprocess the re-alignment of the different successive images depending onthe thereby determined estimations of displacements, these displacementestimations being considered as corresponding to the displacement causedby the physiological movement.